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NASA NTRSDate not supplied

Astrobee: Five years of Completed, Current, and Future Research on the International Space Station using Free Flying Robots.

After five years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 160 Test Sessions logging over 1200 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team currently maintains two identical free-flying Astrobee robots and a Docking Station for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Using ambient air on the ISS, propelled by battery-operated fans, Astrobee is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing the need for astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be tele-operated from the ground. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. The Astrobee Team and Guest Scientists have completed research including Astrobatics maneuvers, RFID and sound sensing capabilities, Gecko materials studies, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots is investigating new docking capabilities through software only research as well as testing new docking hardware installed on the Astrobees. The Astrobee Team and other researchers at NASA Ames continue to explore robotics applications for future NASA missions such as Gateway and potential experiments involving human-robot interactions. Continued advanced mapping resolution capabilities, and high-resolution panoramic imagery also remains areas of research. Exciting in development research involves docking for rendezvous proximity operation (CLINGERS), multi resolution 3D scanning (MRS), space debris removal in microgravity (REACCH). This presentation will mainly focus on completed research over the past year and current science being performed on the Astrobees. This presentation will also focus on how a Guest Scientist/Researcher progresses from conception to running their science on the Astrobees on the ISS, as well as discuss the Astrobee Facility resources available for supporting ground testing and real-time ISS operations.

Astrobee↗
NASA NTRS2016

Simulation-To-Flight (STF-1): A Mission to Enable CubeSat Software-Based Validation and Verification

The Simulation-to-Flight 1 (STF-1) CubeSat mission aims to demonstrate how legacy simulation technologies may be adapted for flexible and effective use on missions using the CubeSat platform. These technologies, named NASA Operational Simulator (NOS), have demonstrated significant value on several missions such as James Webb Space Telescope, Global Precipitation Measurement, Juno, and Deep Space Climate Observatory in the areas of software development, mission operations/training, verification and validation (V&V), test procedure development and software systems check-out. STF-1 will demonstrate a highly portable simulation and test platform that allows seamless transition of mission development artifacts to flight products. This environment will decrease development time of future CubeSat missions by lessening the dependency on hardware resources. In addition, through a partnership between NASA GSFC, the West Virginia Space Grant Consortium and West Virginia University, the STF-1 CubeSat will hosts payloads for three secondary objectives that aim to advance engineering and physical-science research in the areas of navigation systems of small satellites, provide useful data for understanding magnetosphere-ionosphere coupling and space weather, and verify the performance and durability of III-V Nitride-based materials.

navigation↗
NASA NTRS2012

A Functional Comparison of Lunar Regoliths and Their Simulants

Lunar regolith simulants are essential to the development of technology for human exploration of the Moon. Any equipment that will interact with the surface environment must be tested with simulant to mitigate risk. To reduce the greatest amount of risk, the simulant must replicate the lunar surface as well as possible. To quantify the similarities and differences between simulants, the Figures of Merit were developed. The Figures of Merit software compares the simulants and regolith by particle size, particle shape, density, and bulk chemistry and mineralogy; these four properties dictate the majority of the remaining characteristics of a geologic material. There are limitations to both the current Figures of Merit approach and simulants in general. The effect of particle textures is lacking in the Figures of Merit software, and research into this topic has only recently begun with applications to simulants. In addition, not all of the properties for lunar regolith are defined sufficiently for simulant reproduction or comparison; for example, the size distribution of particles greater than 1 centimeter and the makeup of particles less than 10 micrometers is not well known. For simulants, contamination by terrestrial weathering products or undesired trace phases in feedstock material is a major issue. Vapor deposited rims have not yet been created for simulants. Fortunately, previous limitations such as the lack of agglutinates in simulants have been addressed and commercial companies are now making agglutinate material for simulants. Despite some limitations, the Figures of Merit sufficiently quantify the comparison between simulants and regolith for useful application in lunar surface technology. Over time, the compilation and analysis of simulant user data will add an advantageous predictive capability to the Figures of Merit, accurately relating Figures of Merit characteristics to simulant user parameters.

Rickman, D.↗
NASA NTRS2001

Architectures and Evaluation for Adjustable Control Autonomy for Space-Based Life Support Systems

In the past five years, a number of automation applications for control of crew life support systems have been developed and evaluated in the Adjustable Autonomy Testbed at NASA's Johnson Space Center. This paper surveys progress on an adjustable autonomous control architecture for situations where software and human operators work together to manage anomalies and other system problems. When problems occur, the level of control autonomy can be adjusted, so that operators and software agents can work together on diagnosis and recovery. In 1997 adjustable autonomy software was developed to manage gas transfer and storage in a closed life support test. Four crewmembers lived and worked in a chamber for 91 days, with both air and water recycling. CO2 was converted to O2 by gas processing systems and wheat crops. With the automation software, significantly fewer hours were spent monitoring operations. System-level validation testing of the software by interactive hybrid simulation revealed problems both in software requirements and implementation. Since that time, we have been developing multi-agent approaches for automation software and human operators, to cooperatively control systems and manage problems. Each new capability has been tested and demonstrated in realistic dynamic anomaly scenarios, using the hybrid simulation tool.

Malin, Jane T.↗
NASA NTRSDate not supplied

Initial Development of A Digital Twin Model for an Electrified Aircraft Propulsion Emulation Rig

In support of aviation fuel burn and emission reduction goals, NASA is pursing high-payoff research investments that promise to transform aviation. This includes investments in Electrified Aircraft Propulsion (EAP), which relies on the generation, storage, transmission, and use of electrical power for producing thrust and optimizing propulsion system efficiency. Multiple technology challenges must be addressed to unlock the full potential of EAP. This includes advances in propulsion controls, which will be vital for ensuring coordinated efficient operation of the complex integrated subsystems that comprise EAP architectures. To support EAP controls research, the NASA Glenn Research Center has developed the Hybrid Propulsion Emulation Rig (HyPER). The HyPER laboratory hardware includes shaft-mounted electric machines, power converters, power supplies, power distribution cables, and an energy storage device that can be reconfigured to represent a variety of EAP architectures. It also includes an integrated real-time computer system that hosts developed EAP control software and turbomachinery simulations. This enables the electrical system and rotating shafts of EAP designs to be implemented in actual hardware and integrated with turbomachinery simulations and system-level EAP control logic implemented in software. In this form, the HyPER laboratory provides a partially simulated, partially hardware-in-the-loop test environment enabling the initial development and evaluation of EAP control technology. A prerequisite for the development of EAP control designs is the availability of a system model that accurately reflects the operation of the electrical system hardware. To support this need, a digital twin model of the HyPER electrical system hardware is under development. This model is being coded in the MATLAB Simulink environment and uses the NASA-developed Electrical Modeling and Thermal Analysis Toolbox (EMTAT) to construct a digital twin framework. EMTAT contains generic electrical component building blocks that are simulated at turbomachinery timescales. Associated inputs and outputs allow the blocks to be combined to model complete electrical systems. The EMTAT blocks also contain adjustable internal maps and parameters that can be set to reflect the operation of a specific electrical component. For the HyPER digital twin, the settings of these EMTAT block internal maps and parameters is determined through machine learning approaches applied to characterization run data collected from the laboratory. During characterization runs the laboratory electrical system hardware is subjected to a full range of torque, speed, and power settings. Acquired data is then used to estimate EMTAT block parameters using a variety of machine learning techniques. The resulting digital twin model is found to match the operation of actual HyPER hardware with an accuracy suitable for control development purposes. It also holds promise for other applications including modeling the performance of HyPER laboratory reconfigurations and model-based anomaly detection. Planned follow-on work to automate post-processing of acquired laboratory data to update the HyPER digital twin model will also be presented and discussed.

Electrified Aircraft Propulsion↗
NASA NTRS2024

Expansion of Check-Cases for 6DOF Simulation

This effort expands upon a previous NASA activity that developed flight simulation benchmark check-cases to include new check-cases for the Cislunar domain, comparing multiple NASA simulation tools. The results of this effort describe the benefits of standardizing inputs, simulation comparisons and describe an interactive website that enables comparison of externally provided simulation data. Participating simulations improved their software and identified implementation errors. This activity elevated simulation credibility and provided a measure of validation for the simulations actively in use for NASA’s Human Landing Systems (HLS).

Modeling↗
NASA NTRS2024

Expansion of Check-Cases for 6DOF Simulation: Appendix A

This is the Appendix containing figures of simulation output data plots for comparison from the assessment, “Expansion of Check-Cases for 6DOF Simulation”. This effort expands upon a previous NASA activity that developed flight simulation benchmark check-cases to include new check-cases for the Cislunar domain, comparing multiple NASA simulation tools. The results of this effort describe the benefits of standardizing inputs, simulation comparisons and describe an interactive website that enables comparison of externally provided simulation data. Participating simulations improved their software and identified implementation errors. This activity elevated simulation credibility and provided a measure of validation for the simulations actively in use for NASA’s Human Landing Systems (HLS).

Modeling↗
NASA NTRS2011

Implementation and Simulation Results using Autonomous Aerobraking Development Software

An Autonomous Aerobraking software system is currently under development with support from the NASA Engineering and Safety Center (NESC) that would move typically ground-based operations functions to onboard an aerobraking spacecraft, reducing mission risk and mission cost. The suite of software that will enable autonomous aerobraking is the Autonomous Aerobraking Development Software (AADS) and consists of an ephemeris model, onboard atmosphere estimator, temperature and loads prediction, and a maneuver calculation. The software calculates the maneuver time, magnitude and direction commands to maintain the spacecraft periapsis parameters within design structural load and/or thermal constraints. The AADS is currently tested in simulations at Mars, with plans to also evaluate feasibility and performance at Venus and Titan.

Maddock, Robert W.↗
NASA NTRS1985

Orbits: Computer simulation

In rotating machinery dynamics an orbit (Lissajous curve) represents the dynamic path of the shaft centerline motion during shaft rotation and resulting precession. The orbit can be observed with an oscilloscope connected to XY promixity probes. The orbits can also be simulated by a computer. The software for HP computer simulates orbits for two cases: (1) Symmetric orbit with four frequency components with different radial amplitudes and relative phase angles; and (2) Nonsymmetric orbit with two frequency components with two different vertical/horizontal amplitudes and two different relative phase angles. Each orbit carries a Keyphasor mark (one-per-turn reference). The frequencies, amplitudes, and phase angles, as well as number of time steps for orbit computation, have to be chosen and introduced to the computer by the user. The orbit graphs can be observed on the computer screen.

Muszynska, A.↗
NASA NTRS1995

Mechanisms test bed math model modification and simulation support

This report summarizes the work performed under contract NAS8-38771 in support of the Marshall Space Flight Center Six Degree of Freedom Motion Facility and Flight Robotics Laboratory. The contract activities included the development of the two flexible body and Remote Manipulator System simulations, Dynamic Overhead Target Simulator control system and operating software, Global Positioning System simulation, and Manipulator Coupled Spacecraft Controls Testbed. Technical support was also provided for the Lightning Imaging Sensor and Solar X-Ray Imaging programs. The cover sheets and introductory sections for the documentation written under this contract are provided as an appendix.

Gilchrist, Andrea C.↗
NASA NTRS1986

Space Station communications and tracking systems modeling and RF link simulation

In this final report, the effort spent on Space Station Communications and Tracking System Modeling and RF Link Simulation is described in detail. The effort is mainly divided into three parts: frequency division multiple access (FDMA) system simulation modeling and software implementation; a study on design and evaluation of a functional computerized RF link simulation/analysis system for Space Station; and a study on design and evaluation of simulation system architecture. This report documents the results of these studies. In addition, a separate User's Manual on Space Communications Simulation System (SCSS) (Version 1) documents the software developed for the Space Station FDMA communications system simulation. The final report, SCSS user's manual, and the software located in the NASA JSC system analysis division's VAX 750 computer together serve as the deliverables from LinCom for this project effort.

Tsang, Chit-Sang↗
NASA NTRS1975

Tug rendezvous and docking with a spacecraft - A remote manned approach

The development and use of a visual simulator for remote-manned rendezvous and docking utilizing frame-by-frame, slow-scan, low-light-level TV (LLLTV) was conceived and initiated in mid-1974. The effort was limited to modification, checkout, and validation of simulator hardware specific to this task, to the development of simulation (digital computer) software, and technical support to several rendezvous and docking simulation studies. Analysis and simulation has shown that LLLTV, such as would be required for satellite inspection, could provide a suitable acquisition sensor for a remote manned rendezvous/docking subsystem. A manned, remote simulation has demonstrated its feasibility during the terminal rendezvous and docking phases. Should this approach prove fully adequate in subsequent detailed simulation studies and tests, an order-of-magnitude cost savings can be obtained for early rendezvous and docking operations.

Hurley, M. J.↗
NASA NTRS2007

The Distributed Space Exploration Simulation (DSES)

The paper describes the Distributed Space Exploration Simulation (DSES) Project, a research and development collaboration between NASA centers which focuses on the investigation and development of technologies, processes and integrated simulations related to the collaborative distributed simulation of complex space systems in support of NASA's Exploration Initiative. This paper describes the three major components of DSES: network infrastructure, software infrastructure and simulation development. In the network work area, DSES is developing a Distributed Simulation Network that will provide agency wide support for distributed simulation between all NASA centers. In the software work area, DSES is developing a collection of software models, tool and procedures that ease the burden of developing distributed simulations and provides a consistent interoperability infrastructure for agency wide participation in integrated simulation. Finally, for simulation development, DSES is developing an integrated end-to-end simulation capability to support NASA development of new exploration spacecraft and missions. This paper will present current status and plans for each of these work areas with specific examples of simulations that support NASA's exploration initiatives.

Crues, Edwin Z.↗
NASA NTRS1993

An investigation of error characteristics and coding performance

The first year's effort on NASA Grant NAG5-2006 was an investigation to characterize typical errors resulting from the EOS dorn link. The analysis methods developed for this effort were used on test data from a March 1992 White Sands Terminal Test. The effectiveness of a concatenated coding scheme of a Reed Solomon outer code and a convolutional inner code versus a Reed Solomon only code scheme has been investigated as well as the effectiveness of a Periodic Convolutional Interleaver in dispersing errors of certain types. The work effort consisted of development of software that allows simulation studies with the appropriate coding schemes plus either simulated data with errors or actual data with errors. The software program is entitled Communication Link Error Analysis (CLEAN) and models downlink errors, forward error correcting schemes, and interleavers.

Ebel, William J.↗
NASA NTRS2005

Computationally Lightweight Air-Traffic-Control Simulation

An algorithm for computationally lightweight simulation of automated air traffic control (ATC) at a busy airport has been derived. The algorithm is expected to serve as the basis for development of software that would be incorporated into flight-simulator software, the ATC component of which is not yet capable of handling realistic airport loads. Software based on this algorithm could also be incorporated into other computer programs that simulate a variety of scenarios for purposes of training or amusement.

Knight, Russell↗
NASA NTRS1989

An order (n) algorithm for the dynamics simulation of robotic systems

The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding.

Chun, H. M.↗
NASA NTRS2007

An Overview of the Distributed Space Exploration Simulation (DSES) Project

This paper describes the Distributed Space Exploration Simulation (DSES) Project, a research and development collaboration between NASA centers which investigates technologies, and processes related to integrated, distributed simulation of complex space systems in support of NASA's Exploration Initiative. In particular, it describes the three major components of DSES: network infrastructure, software infrastructure and simulation development. With regard to network infrastructure, DSES is developing a Distributed Simulation Network for use by all NASA centers. With regard to software, DSES is developing software models, tools and procedures that streamline distributed simulation development and provide an interoperable infrastructure for agency-wide integrated simulation. Finally, with regard to simulation development, DSES is developing an integrated end-to-end simulation capability to support NASA development of new exploration spacecraft and missions. This paper presents the current status and plans for these three areas, including examples of specific simulations.

Crues, Edwin Z.↗
NASA NTRS1994

Investigating and implementing enhancements to the simulation of short-term collision hazards

A software tool, the Relative Collision Matrix (RCM), has been developed to provide a quick-look representation of the shortterm collision hazard to space systems from a fragmentation event in Earth orbit. The software performs multiple fragmentation simulations of space objects to quantify the probability of collision for a satellite or a constellation of satellites nearby. Previously, the results were displayed in a color matrix format which showed the relative hazard of each constellation. The RCM can be used for scientific research and operational assessments even though it was designed for test and evaluation applications. Because of its successful use as an analytical tool, the capabilities of RCM are being extended by enhancing the orbital hazard analysis routines, developing ballistic trajectory hazard analysis routines, and expanding the breakup modeling. Improvements are also being made to the RCM's usability and presentation quality by developing a graphical user interface and by providing graphical animated and nonanimated output.

Huth, Jeffrey S.↗